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A REVIEW ON SPIDER ROBOTIC SYSTEM

Article  in  International Journal of New Computer Architectures and their Applications · November 2019
DOI: 10.17781/P002604

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 International Journal of New Computer Architectures and their Applications (IJNCAA) 9(1): 19-24
The Society of Digital Information and Wireless Communications, 2019 ISSN 2220-9085 (Online); ISSN 2412-3587 (Print)

A REVIEW ON SPIDER ROBOTIC SYSTEM

Mehmet Çavaş 1 and Muhammad Baballe Ahmad 2
1,2
(Mechatronics engineering, Firat University Elazig, Turkey)
Corresponding author: Muhammad Baballe Ahmad
E-mail: ahmadbaballe@yahoo.com

ABSTRACT the1960s (Clark,1961; Huffman,1962)[3]. With

The spider robot is a device used in monitoring
surroundings wirelessly. This review work will assist
in solving the weak adaptive ability of ordinary
existing robots. The spider robots function without
interfacing, it can easily adapt to the new situation or
obstacles due to its legs of locomotion on like the
ordinary two legs robots. A spider robotic system
will help in monitoring of toxic or nuclear
environments and moving in an environment that
ordinary robots cannot do like; climbing of walls,
rough surfaces, trace and locating of missing items.
The user of this spider robotic system poses a perfect
resolution to such problems, eradicating the demand
for humankind to access such places and regularly
providing information on the state of such
environment that would not otherwise be available
for humanity.
KEYWORDS: , Microcontroller, National
Instrument, Sensor, Spider robot, Toxic enviroment
1. INTRODUCTION
In the second half of the 20th century,
humankind obtained the rewards of several far-
reaching scientific discoveries that normally took
place in the first half, amongst which was the
control of the nuclear chain reaction for
generating electricity [1]. Due to its high energy
density and thus relatively small requirement for
fuel, nuclear power has been exploited. In
addition, it has authorized enhancements in the
toughness of materials that were used in the
nuclear facilities, and this has led to prolonged
achievements and improved safety margins. As
results to this, improvements in engineering and
materials science have been enforced to a wide
of nuclear-connected projects, which stretch
from the framework of a rector and additional
buildings through to the processes by which they
are disbanded [2]. For instance, static and
monorail-type teleoperated machines have been
in usage since the beginning of nuclear energy to
handlebar activities carefully in zones of life-
threatening radiation disclosure and to
accomplish polluted constituents (Hamel and
Martin, 1983; Wehe et al., 1989); while a
number of mobile samples were existing during
the help of microprocessor technology booming
in the mid-70s, researchers proposed different
but possible robotic designs that could replace
human on a wider range of work jobs in
radiation surroundings; this may include
inspection, maintenance, and repair in such
environments [4]. Also at the same time, civil
nuclear power plants were established in Europe
and North America on a scale never repeated
since, and hence it made sense to design and
build embracing robotic technology for these
purposes [5]. In 1979, the necessity for
progressive robotic proficiency became a vital
because of the reactor disintegration that took
place in Unit 2 at Three Mile Island meant that
several jobs had to been commenced remotely,
accompanying the use of long-handled tools and
what were then novel vision systems [6]. At this
time the first ever radiation inspection robot, for
this objective, used in the basement of the unit
four years later regarded as a landmark in the
nuclear industry [7]. About seven years after the
Three Mile Island accident, the tragic accident
that took place in Chernobyl caused in a policy
to entomb the damaged plant in sand and clay to
restraint the magnitude of the ongoing
radioactive secretions, and reformed the interest
in the idea of using mobile robots in place of
individuals for nuclear accident response
applications [8]. The technological
enhancements over the next two eras have driven
the design and execution of highly refined
systems, with robotics gaining more and more
popularity in majority commercial fields, such as
entertainment, transport, and medicine [9]. Most
of the robots that we are familiar with uses
wheels for their movement [10]. They can
accomplish high speed and relatively small
control complication but, even with complex
suspension systems, they present many
limitations in irregular and rough environments
(e.g., hazardous environments and uneven
ground) with the help of legged spider robotic
systems, and most of these difficulties were
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 International Journal of New Computer Architectures and their Applications (IJNCAA) 9(1): 19-24
The Society of Digital Information and Wireless Communications, 2019 ISSN 2220-9085 (Online); ISSN 2412-3587 (Print)
overcome, thanks to its litheness and ground
adaptation [11]. Definitely, the opportunity to
choose between different available solutions and
to adapt and control the position of the center of
mass of the system allows dodging slippage and
downturns due to environment irregularities
[12]. The costs that have to be paid are the lower
speed of locomotion and higher complexity of
the controller with respect to wheeled systems.
Also, due to the fact that the legs are self-reliant
controlled, legged systems have a large number
of degrees of freedom (DOF) to be coordinated
in order to control the position, balance the
forces (e.g., load, external forces) and consume
as little energy as possible [13]. Since the task of
finding an optimal force allocation was made in
real time, fast processes and control functions
have to be used, as likewise when a body force
command solution is not reachable and a new
plan has to be formulated [15]. Spider legged
robots have a body and a number of articulated
legs that start from it. Each of these kinematic
chains can also be view as a manipulator that
acts like a limb and adds to the overall position
and equilibrium of the spider robot structure. In
order to estimate and produce an operative
legged spider robot, the awareness is to draw
motivation from nature [16]. In nature, different
legged systems can be able to walk and climb
different surfaces with low energetic
consumption and high autonomy was been
found. Indeed, safe attachment to and easy
detachment from smooth substrates is a major
feature of a diverse range of animal species.
Attachment without using fluids, so-called dry
adhesion, were exploit by geckos and Evarcha
arcuata spiders by means of fibrillar elements
[17]. The adhesion force seems to be related to
the approaching angle between the attaching
elements and the surface: the maximum adhesion
condition reached when the angle is around 30°;
a sliding condition occurs when the angle is
smaller, and detachment occurs when the angle
is bigger [18,19]. Currently, there are some
certain conditions in which human beings are
incapable to complete a certain mission in this
real life, such mission include locating a lost
object or items or finding a missing individual in
a jungle for more than a day and also discovering
a pothole with lack of oxygen and also working
in a toxic environments [20]. In order to achieve
such problematic tasks, the human being will
have to rely on mobile robots [21]. Scientists
nowadays show emphasis on the new design of a
self-adaptive robotic system, which includes
path tracing [22]. In the year 2011, Pratihar, Roy
and Singh estimated the optimal bases forces and
joint torques in the real-time process for the
monitoring of the six-legged robot [23]. This
researcher concentrated on finding the best point
in the circulations of the bases forces and values
of the joint torques of the six-legged robot online
[24]. The minimization of the standard of the
joint torques and the base forces was been
simulated in their study. Roy conducted another
research in the same year with Pratihar
discovered that unlike duty features will lead to
many energy intakes. This duties factors can also
differ among 2/3 and 1/3 whereas energy intake
will change in the range of 2% and 35% [25]. In
the subsequent year, both Pratihar and Roy
conduct another research on the legged robot and
simulated the technique of attaining extreme
steadiness with the minimum energy intake
steps. Menon, Henry, and Boscariol, in the year
2013, examined on resolving the unsuitable
relocation of forces in the reloading of the legs in
the climbing robots which may likely lead to the
irreversible dispassion of the spider robots from
its upright facades [26]. This researchers finally
concluded that it is likely to save 35% of the
whole charges of this spider robot if the designed
step is well-organized. In this study work, the
National Instrument (NI) protocol was been
nominated to relate with the suggested well-
designed robotic supervisor for interfacing and
processor [27]. The suggested smart system
gathers data about the environments particularly
in available areas and aids the robot to choose
the finest route course to be taken. The National
Instrument (NI) implanted field programmable
gate array (FPGA) board has been selected to
merge with spider robot for the tenacity of high
enactment adeptness as well as being user-
friendly and compatibility. The categorization of
leg actions is predefined in this study for
persistent walking. With the help and
combination of several sensors on its frame
construction, this suggested six-legged flexible
smart spider robot is fit to be employed in
ambiguous environments [27].
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 International Journal of New Computer Architectures and their Applications (IJNCAA) 9(1): 19-24
The Society of Digital Information and Wireless Communications, 2019 ISSN 2220-9085 (Online); ISSN 2412-3587 (Print)
Figure 1: Spider robot
2. Materials and Method
2.1 The method used to produce a spider
robot
The recommended spider robotic system is
divided into (3) three subsystems, which may
likely include; the body structure of the spider
robot, its sensor, and control algorithm. The
configuration of the spider robot is made of
aluminum; this is because of the strength of
aluminum in resisting the tensile and pressure
stress on its exterior. Stalemate bolts were used
to protect the position of the National Instrument
(NI) board on the framework. Several sensors
are applied in the spider robotic body [19-22].
The body of this spider robot must be tough
enough to support the heaviness of the National
Instrument (NI) board in vigorous
circumstances. Henceforward, the consideration
that has been taken during the blueprint stage of
the spider robot of the main body of the robot
this include compression and tensile stress
alongside the axis of the movement of this
moving parts of the spider robot caused by the
burden carried. The six-leg pairs of the spider
robot will be attached on a frame of the spider at
certain angles that will enable it to maintain the
stability and the whole spider robot will be
controlled remotely. In order to help keep this
spider design steady to avoid it from losing
balance or sloping over you will need to
assemble the leg pairs and the structure at an
angle from the conservative straight ahead.
Because the pairs of legs will be pointing at
different angles than straight ahead then their
directional vectors do not point in the direction
of movement, rather at the exact angle from the
90-degree line down the middle of design
signifies straight ahead from an outside
perspective. This result in two vector quantities
chain together and gives magnitude and force in
precisely the same path. A servo bracket is fixed
to the joint of the legs, each of these different
legs of the spider robot has (3) three degree of
freedom (DOF). Among the degree of freedom
(DOF), one of this degree of freedom is
alongside the z-axis and also function as the
shoulder and the turning of this shoulder will
serve as a controller to the other two joints. This
shoulder will be master and the location of it will
vigor the other two to take their spot. The
National Instrument (NI) board helps in the
control of the movement of these joints. Each of
these joints uses a servo bracket to a joint to each
other. The whole project of the spider robotic
system is carried out using feedback loop
graphic NI LabVIEW interfacing with an
insolent controller and also with the help of the
company of smoke sensor, LM35 temperature
sensor, and GH-311 ultrasonic sensor. This
GH311 ultrasonic sensor produces an exact and
non-contact space dimension. When there is a
difficulty as far as like 31cm away from this
spider robot, with the help of the GH311 sensor
it will transfer a high indication to the National
Instrument (NI) board to specify the position of
the problem and implement the suitable moving
algorithm to dodge such hitch. The GH-312
sensor was applied in the spider robot
construction to identify hydrogen, smoke,
alcohol, liquefied gas, butane, and propane.
Figure 2: Block diagram of the spider robots
2.2. The principle operation of the spider
robot
With the help of the Arduino receiver or
microcontroller, it takes the signal from the
transmitter and aid in sending it to both the servo
and the speed controller. It is this device that
synchronizes to the controller and is what allows
the spider robot to receive radio signals as results
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 International Journal of New Computer Architectures and their Applications (IJNCAA) 9(1): 19-24
The Society of Digital Information and Wireless Communications, 2019 ISSN 2220-9085 (Online); ISSN 2412-3587 (Print)
of the built-in aerial in the robot. The speed of
this controller is the central piece of the research
and is what helps in controlling both the servo
and the electric motors by regulating their
rotation proportional to the amount forced upon
it by the transmitter. It is connected to the
battery; all of the four motors are in parallel, to
the Arduino receiver and a switch. All of the
four electric motors are wired in parallel, with
two being reverse. This is because there will be
two electric motors at either end of the research
and when one pair of the leg is walking forward
then the other leg needs to be walking backward.
By wiring, the motor so current flows in the
opposite direction this effect is achieved. With
the objective of the spider robot moving forward
or backward and avoiding the obstacles on the
robot’s path. The Arduino board is pre-
programmed and waits for the user to input a
certain task to be performed. The National
Instrument (NI) board helps in collecting
feedback information from this sensor embedded
on the spider robot frame and processes the
information; henceforth, implementing the given
job. For instance, if this ultrasonic sensor used
senses an item hindering the spider robotic
movement route, this sensor will automatically
convey the response information to the
programmed National Instrument (NI) board.
With the help of this board, it will then process
the information consequently and evaluates the
information to gives a suitable outcome such as
enrichment for the location of the spider robot to
escape the hitch that leads to self-localization.
The spider robot will then start moving onward
again till the robot reaches its target or facing
another problem on its movement route. The
spider robotic program consists of three Digital
input and output ports; this includes an ultrasonic
sensor, smoke sensor, and temperature sensor. It
also consists of four types of walking processes
ready to perform singly when this ultrasonic
sensor identifies any difficulty in frontage of the
spider robot. When there is no difficulty on the
spider robot’s route, the remaining three of the
walking algorithms would not implement. In this
case, the only walking algorithm performed is
the algorithm for the spider robot moving
onward. If this ultrasonic sensor notices a hitch
in front of the spider robot, the spider robot will
dismiss the walking forward process and then
trigger either walking left right or backward
walking process. The feedback information that
is from the sensor will be performed
consequently; henceforth, calling the information
that has been made in the memory block to the
pulse-width modulated (PWM) generator for
each of the servo motors. In this case, when you
implement the forward walking procedure, the
spider robot limb moves step-by-step. With the
six legs of the spider robots taking its respective
location, the spider robot will then be able to
push its body forward. This procedure will be
repeated in order to make a forward movement
for the spider robot. The smoke and temperature
sensor will perform individually without
touching the walking process of the robot. The
information that you obtained from both the
smoke and temperature sensor is display on your
front panel of your monitor. The wireless
watching system is an interface on your laptop.
On your observing system interface, you can
assign a green light emitting diode indicator to
represent the direct route taken by the spider
robot when the walking process is executed. If in
the process the spider robot detects smoke, the
red light emitting diode that you assigned to the
sensor indicator will light up to signal possible
menace. Your surrounding temperature is
monitor and updated with the help of indicator
thermometer on your laptop or desktop
monitoring system.
2.3. Application of the spider robot
1. We can use this spider robot in
discovering dangerous or rough areas in which
humankind can have full access easily. For
example, searching for survivors after a terrible
nuclear tragedy, also exploring in war zones, for
inspecting unstable buildings after a natural
tragedy such as earthquake, tsunami or a
volcanic eruption.
2. We can also use spider robots in defusing
bombs such as land mines.
3. We can also equip the spider robots with
sensors and weapons; such robot is used in a
crisis or war to avoid risking human lives on the
battlefield.
4. We can also use this spider robot in
guarding our properties or areas of high
importance.
3. Conclusions
In conclusion, this paper reviewed some studies
relating to spider robots, highlighted its principle
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 International Journal of New Computer Architectures and their Applications (IJNCAA) 9(1): 19-24
The Society of Digital Information and Wireless Communications, 2019 ISSN 2220-9085 (Online); ISSN 2412-3587 (Print)
of operation, it also summarizes how it is made
or constructed and the areas of applications in
real life in this world. With the help of
advancement in technology, the spider robot
system will be able to monitor every important
environment also analyzes the situation of such
environment in which one can have full access
due to the complication of such places and
implement the proper action needs to be
executed in such areas.
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